The invention relates to a real-time motion control system and method for a four-wheel steering vehicle with an angle module structure. Comprising a path tracking controller, a feedforward-feedback front and rear axle wheel corner distribution controller and an Ackerman four-wheel corner distribution controller. The path tracking controller solves the optimal rotation angle control quantity of an angle module configuration intelligent vehicle tracking target trajectory; a feedforward-feedback front and rear axle wheel turning angle distribution controller takes the optimal vehicle turning angle calculated by the path tracking controller as a front axle target turning angle, then takes the front axle turning angle as proportional feedforward, takes the vehicle yaw velocity as proportional feedback, and calculates a rear axle target turning angle; according to the Ackerman steering principle, the Ackerman four-wheel steering angle distribution controller distributes the target steering angles of the front/rear axle to four independent steering wheels of the angle module configuration intelligent vehicle, and steering control over the vehicle is achieved. According to the invention, the calculation amount of the control system is reduced, the vehicle control difficulty of the angle module is reduced, the control real-time performance is improved, and the driving safety is ensured.

    本发明为一种角模块构型四轮转向车辆的实时运动控制系统及方法。包括路径跟踪控制器、前馈‑反馈前后轴车轮转角分配控制器和阿克曼四轮转角分配控制器;路径跟踪控制器求解出角模块构型智能车辆跟踪目标轨迹的最优转角控制量;前馈‑反馈前后轴车轮转角分配控制器将路径跟踪控制器计算的最优车辆转角作为前轴目标转角,然后将前轴转角作为比例前馈,将车辆横摆角速度作为比例反馈,计算得到后轴目标转角;阿克曼四轮转角分配控制器根据阿克曼转向原理,将前/后轴的目标转角分配到角模块构型智能车辆四个独立转向的车轮,实现车辆的转向控制。本申请减少了控制系统计算量,降低了角模块车辆控制难度,提升了控制实时性,保证了行驶安全。


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    Title :

    Real-time motion control system and method for four-wheel steering vehicle with corner module configuration


    Additional title:

    角模块构型四轮转向车辆的实时运动控制系统及方法


    Contributors:
    YAN YONGJUN (author) / ZHANG CHENSHUO (author) / PI DAWEI (author) / WANG HONGLIANG (author) / XUE PENGYU (author) / TAO SHILONG (author) / SUN XIAOWANG (author) / WANG XIA (author)

    Publication date :

    2024-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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